月球探测车转向系统动力学建模与分析

月球探测车在月球表面松软土壤上的转向动力学特性比较复杂。文章在已有的车辆地面力学成果的基础上 ,研究了探测车在松软的月球表面土壤上的转向动力学问题。给出了六轮月球探测车的四轮转向运动学计算公式 ,推导了探测车在松软土壤上的四轮转向动力学模型 ,提出了合理的简化方法 ,并对稳态特性进行了相应的分析。所得到的结果为探测车转向系统设计及控制算法研究提供了依据     

以捷径法提高射线追踪效率

为改善计算效率,提出了一种捷径法对射线追踪法进行改进. 射线追踪的计算时间主要耗费在求交判断上. 通过实际计算并记录一条射线管的轨迹,作为其后若干条射线管求交计算的优先参考,避免了再次进行漫无目的的遍历式求交,从而大量减少进行实际计算的射线管数量,节省射线求交运算时间. 经编程计算验证,该优化算法能够在保证相当精度的前提下,大幅度提高射线追踪法的计算效率,具备一定的实用价值.      

双柔性机械手搬运刚性物体的协调控制研究

采用负载分配方法,将双柔性机械手协调搬运物体的控制分解为两个等效柔性机械手的运动与力混合控制的问题,同时表明当负载分配系数为常数时等效柔性机械手具有柔性机械手相同的动力学特性。然后通过等效刚性机械手的逆运动学求解出两等效柔性机械手的期望运动轨迹,并且采用输出重定义设计出两等效机械手的运动近似跟踪控制和力控制算法;最后,通过双柔性平面机械手协调搬运物体的仿真实例,说明了所提出的控制方案在柔性机械手协调控制中的有效性。     

基于非线性观测器的控制力矩陀螺操纵律设计

为改善操纵性能,将单框架控制力矩陀螺(SGCMG)操纵律设计问题转化为非线性系统的状态观测问题,并基于状态观测理论,导出了一种新型的SGCMG操纵律.通过适当的参数选择,SGCMG操纵律可使操纵误差在理论上渐近收敛至零;不用计算Jacobi阵的伪逆,而代之以Jacobi阵的转置,从而避免了由Jacobi阵求伪逆带来的一系列问题.同时,该操纵律形式简单,计算量小,易于实现.对应用在航天器上的某SGCMG系统的仿真结果表明,上述操纵律是可行的.      

基于Web的飞机维修管理信息系统

结合某部附件维修厂的飞机维修过程,采用B/S模式,以Bea公司的Weblogic作为Web服务器,Oracle8作为后台数据库管理信息系统,架构了基于Web的飞机维修管理信息系统,同时叙述了系统实施的硬件和软件方案。     

Dual Drive Curve Tool Path Planning Method for 5-axis NC Machining of Sculptured Surfaces

The problem of finished surface being not first-order continuous commonly exists in machining sculptured surfaces with a torus cutter and some other types of cutters. To solve this problem, a dual drive curve tool path planning method is proposed in this article. First, the maximum machining strip width of a whole tool path can be obtained through optimizing each tool position with multi-point machining (MPM) method. Second, two drive curves are then determined according to the obtained maximum machining strip width. Finally, the tool is positioned once more along the dual drive curve under the condition of tool path smoothness. A computer simulation and cutting experiments are carried out to testify the performance of the new method. The machined surface is measured with a coordinate measuring machine (CMM) to examine the machining quality. The results obtained show that this method can effectively eliminate sharp scallops between adjacent tool paths, keep tool paths smooth, and improve the surface machining quality as well as machining efficiency.     

Identification of reduced-order model for an aeroelastic system from flutter test data

Recently, flutter active control using linear parameter varying (LPV) framework has attracted a lot of attention. LPV control synthesis usually generates controllers that are at least of the same order as the aeroelastic models. Therefore, the reduced-order model is required by syn-thesis for avoidance of large computation cost and high-order controller. This paper proposes a new procedure for generation of accurate reduced-order linear time-invariant (LTI) models by using sys-tem identification from flutter testing data. The proposed approach is in two steps. The well-known poly-reference least squares complex frequency (p-LSCF) algorithm is firstly employed for modal parameter identification from frequency response measurement. After parameter identification, the dominant physical modes are determined by clear stabilization diagrams and clustering tech-nique. In the second step, with prior knowledge of physical poles, the improved frequency-domain maximum likelihood (ML) estimator is presented for building accurate reduced-order model. Before ML estimation, an improved subspace identification considering the poles constraint is also proposed for initializing the iterative procedure. Finally, the performance of the proposed procedure is validated by real flight flutter test data.     

互联网+背景下英语课程空间教学模式探讨

随着互联网技术的不断发展,网络教学手段在高校英语教学中发挥着越来越重要的作用。将传统的课堂教学与网络空间教学有机结合起来,已经成为高校英语教学中不断探索的一种教学模式。文章以北华航天工业学院这一地方应用型本科高校为例,探讨了网络空间教学在高校英语教学中应用的具体策略。     

A multiple-CubeSat constellation for integrated earth observation and marine/air traffic monitoring

CubeSats has evolved from purely educational tools, to useful platforms for technology demonstration and many practical applications. This paper reviews a CubeSat constellation mission involving 3 CubeSats launched into orbit on Sep. 25th 2015, aiming to demonstrate the integrated application of low-cost CubeSat technologies with distributed payloads using a group of satellites, as well as to demonstrate several new technologies. The mission scenario, the satellite system design, the innovative technologies and instruments or devices used on the CubeSats and the in-orbit experimental results and the payload data analysis, as well as some experiences and lessons learned, are presented and summaried.     

高大地物对于中波导航台的无源干扰特性

航空中波无线电导航台站的周边建筑和电磁环境均有相关要求。随着城市的发展,中波导航台站周边环境存在着较大的变化,经过前期的调研发现,高大地物是无源干扰的重要组成部分。本文通过对电磁学计算方法的分析,选用矩量法作为研究的数值方法,建立了地物的仿真模型。通过FEKO软件的仿真,分析了地物无源干扰的重要特性。